CN111014391A - Automatic section bending device, method for realizing three-dimensional bending by using same and application - Google Patents

Automatic section bending device, method for realizing three-dimensional bending by using same and application Download PDF

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Publication number
CN111014391A
CN111014391A CN201911329875.5A CN201911329875A CN111014391A CN 111014391 A CN111014391 A CN 111014391A CN 201911329875 A CN201911329875 A CN 201911329875A CN 111014391 A CN111014391 A CN 111014391A
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China
Prior art keywords
motion
bending
plane
bar
clamping
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CN201911329875.5A
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Chinese (zh)
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CN111014391B (en
Inventor
伏荣真
左国坤
蒋灿华
张佳楫
梁烨
宋涛
史斌君
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Ningbo Institute of Material Technology and Engineering of CAS
Xiangya Hospital of Central South University
Cixi Institute of Biomedical Engineering CNITECH of CAS
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Ningbo Institute of Material Technology and Engineering of CAS
Xiangya Hospital of Central South University
Cixi Institute of Biomedical Engineering CNITECH of CAS
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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B21MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21DWORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D11/00Bending not restricted to forms of material mentioned in only one of groups B21D5/00, B21D7/00, B21D9/00; Bending not provided for in groups B21D5/00 - B21D9/00; Twisting
    • B21D11/22Auxiliary equipment, e.g. positioning devices
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B21MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21DWORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D11/00Bending not restricted to forms of material mentioned in only one of groups B21D5/00, B21D7/00, B21D9/00; Bending not provided for in groups B21D5/00 - B21D9/00; Twisting
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B21MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21DWORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D11/00Bending not restricted to forms of material mentioned in only one of groups B21D5/00, B21D7/00, B21D9/00; Bending not provided for in groups B21D5/00 - B21D9/00; Twisting
    • B21D11/14Twisting
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B21MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21DWORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D43/00Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
    • B21D43/003Positioning devices

Abstract

The invention provides an automatic section bar bending device, a method for realizing three-dimensional bending by using the same and application. The two motion mechanisms are adopted to drive two-dimensional translational motion and rotational motion in a plane, a certain included angle is formed between the two motion mechanisms, the two clamping mechanisms are combined to clamp different positions of materials, relative deformation motion of the clamped positions is realized under the drive of the two motion mechanisms, and required three-dimensional bending of the materials is realized by changing the clamping positions.

Description

Automatic section bending device, method for realizing three-dimensional bending by using same and application
Technical Field
The invention belongs to the technical field of processing deformation of sectional materials, and particularly relates to an automatic sectional material bending device, a method for realizing three-dimensional bending by using the same and application thereof.
Background
The processing deformation treatment of the section bar is applied to many fields of modern society.
For example, in order to damage or lose bones of a jaw bone and the like on the face of a patient caused by various diseases or accidents, the conventional main medical means is to adopt a titanium alloy or other biocompatible materials as a framework material to reinforce and splice each bone section, bend the framework material into a framework structure which is matched with the three-dimensional shape of the face of the patient according to the three-dimensional shape data of the face of the patient, and fix the framework structure to the undamaged bones of the patient through connecting pieces, thereby realizing the replacement and repair of the damaged bones.
Currently, the main technical means for facial bone repair are as follows:
firstly, acquiring jaw bone three-dimensional point cloud data of a patient by adopting optical scanning equipment, and manufacturing a bone physical model; determining the expected target bone form after the operation according to the related experience of a doctor or based on an operation simulation means, and manufacturing a target bone form model in equal proportion to the bone physical model by 3D printing or other rapid forming technical means; according to the physical skeleton model, a doctor bends plate-shaped skeleton materials such as a titanium alloy plate and the like through a manual tool to enable the skeleton materials to be inosculated with the skeleton of a patient, and the skeleton materials are finally inosculated with the target skeleton after strengthening and fixing or splicing.
In the process, the skeleton structure and the skeleton physical model need to be repeatedly compared to form a fixing piece, and the fixing piece is continuously finely adjusted until the three-dimensional skeleton shape of the patient is completely matched.
The technical means has the following problems:
(1) the three-dimensional physical model of the skeleton of the patient needs to be manufactured, the time for manufacturing the model by the existing process means is more than 10 hours, the operation waiting time of the patient is increased, and the manufacturing cost is high;
(2) the framework material is bent manually based on the experience of a doctor, so that the bending precision is low, and the bending time is long; even for the same patient, the consistency of the fixing piece cannot be ensured when different doctors bend manually;
(3) because the skeleton shape is complicated, the early fatigue and the short service life of the fixing piece made of the framework materials such as titanium alloy and the like are easy to cause due to more times of repeated adjustment when manual bending is adopted.
(4) The manual bending by a simple tool can only ensure that the fixing piece and the skeleton of the patient achieve better fitting degree on local points, but cannot ensure that the best space fitting is achieved on all coordinate points, so that the comfort degree of the patient and the service life of the fixing piece are influenced to a certain degree.
Disclosure of Invention
In view of the above technical situation, the present invention provides an automatic profile bending apparatus, which can automatically bend and twist a profile.
The technical scheme provided by the invention is as follows: an automatic section bending device comprises a first moving mechanism, a first clamping mechanism fixed on the first moving mechanism, a second moving mechanism and a second clamping mechanism fixed on the second moving mechanism;
the first motion mechanism is used for driving two-dimensional translation motion and rotation motion on the A plane;
the second motion mechanism is used for driving two-dimensional translation motion and rotation motion in a B plane;
the plane A and the plane B form an included angle which is larger than 0 degree and smaller than 180 degrees.
The profile refers to a formed material, i.e., a material having a certain shape, including but not limited to a plate-shaped material, a bar-shaped material, a strip-shaped material, and the like.
Preferably, the a plane and the B plane are perpendicular to each other.
The structural form of the first motion mechanism is not limited, and the first motion mechanism comprises a 3-PRR type parallel mechanism, a 3-RRR type parallel mechanism, a 3-PPR type parallel mechanism, a 3-PRR type parallel mechanism, a 3-PPP type parallel mechanism, a 3-RPP type parallel mechanism and the like.
The structural form of the second motion mechanism is not limited, and the second motion mechanism comprises a 3-PRR type parallel mechanism, a 3-RRR type parallel mechanism, a 3-PPR type parallel mechanism, a 3-PRR type parallel mechanism, a 3-PPP type parallel mechanism, a 3-RPP type parallel mechanism and the like.
The driving element in the first motion mechanism is not limited and includes a motor, a cylinder, etc., and the motor includes but is not limited to a step screw motor, a servo motor, etc.
The driving element in the second motion mechanism is not limited and includes a motor, a cylinder, etc., and the motor includes but is not limited to a step screw motor, a servo motor, etc.
In the working state, the first clamping mechanism and the second clamping mechanism clamp different positions of the section bar, and the unclamped position of the section bar can be in a dragging state, a suspending state and the like. The auxiliary feeding mechanism is not limited in structure and comprises a two-degree-of-freedom planar motion mechanism, such as a planar double-link mechanism, a planar five-link mechanism, a planar six-link mechanism and the like.
The automatic bending device can realize three-dimensional bending deformation of the section, and the specific method comprises the following steps: the three-dimensional bending deformation of the sectional material is decomposed into relative deformation motions of different characteristic points, and the three-dimensional bending deformation of the sectional material is realized through the relative deformation fitting between a plurality of adjacent characteristic points. The three-dimensional bending deformation is realized by combining the automatic bending device of the invention through the following use method:
(1) the first clamping mechanism and the second clamping mechanism are used for fixedly clamping different positions of the section bar, namely the first clamping mechanism clamps the position A of the section bar, and the second clamping mechanism clamps the position B of the section bar;
(2) carrying out the following a process and b process, or a process and b process;
a, process: under the drive of the first motion mechanism, the A position of the section bar performs translational motion and/or rotational motion on the A plane;
b, process: under the drive of the second motion mechanism, the B position of the section bar performs translational motion and/or rotational motion on a B plane.
(3) Changing the a position and/or the B position;
(4) and (3) repeating the step (1) and the step (2) until the required three-dimensional bending is realized.
Preferably, the automatic bending device for the profile further comprises a control mechanism for controlling the positions of the first clamping mechanism and the second clamping mechanism for clamping the profile and the driving movement of the first movement mechanism and the second movement mechanism.
The material three-dimensional bending machine adopts two motion mechanisms which can drive two-dimensional translation motion and rotation motion in a plane, the two motion mechanisms form a certain included angle, the two clamping mechanisms are combined to clamp different positions of a material, the relative deformation motion of the clamped positions is realized under the drive of the two motion mechanisms, and the required material three-dimensional bending is realized by changing the clamping positions, so that the material three-dimensional bending machine has the following beneficial effects:
(1) the material three-dimensional bending can be automatically realized, the material three-dimensional bending is converted into relative motion among discrete characteristic positions, and the material three-dimensional bending deformation required to be realized is fitted through the relative deformation among a plurality of characteristic points, so that the material three-dimensional bending deformation device has the advantages of high deformation efficiency, high deformation precision, repeatable operability, consistent deformation effect and the like;
(2) the automatic deformation device can be used for medical skeleton repair, and according to a skeleton three-dimensional model, the skeleton material is bent by the device to be matched with the skeleton three-dimensional model and is consistent with a target skeleton model after being fixed or spliced, so that the automatic deformation device has the advantages of high bending efficiency, high bending precision and the like. The framework material comprises biocompatible materials such as titanium alloy and the like. The bone is not limited, and comprises facial bone, and the like, and is particularly suitable for bones with complex shape structures, such as facial jawbones, and the like.
Drawings
Fig. 1 is a schematic structural view of an automatic bending apparatus for a profile in embodiment 1 of the present invention.
Fig. 2 is a schematic structural diagram of the first movement mechanism and the first clamping mechanism in fig. 1.
Fig. 3 is a schematic structural view of the second movement mechanism and the second clamping mechanism in fig. 1.
FIG. 4 is a schematic view of an auxiliary feeding mechanism in example 2 of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the following examples and drawings, which are intended to facilitate the understanding of the present invention and are not intended to limit the present invention in any way.
The device comprises a first movement mechanism 1, a second movement mechanism 2, a first clamping mechanism 3, a second clamping mechanism 4, a base 5, a movable platform 6, a transmission mechanism 7, a lead screw motor 8, a P-amplitude driving element 9, a connecting rod 10, a base 11, a first connecting rod 12, a second connecting rod 13 and a rotary movement pair 14.
Example 1:
in this embodiment, the automatic bending device for a profile is shown in fig. 1, and includes a first moving mechanism 1 and a second moving mechanism 2.
As shown in fig. 2, the first moving mechanism 1 is provided with a first clamping mechanism 3.
As shown in fig. 3, the second movement mechanism 2 is provided with a first gripping mechanism 4.
As shown in fig. 2 and 3, the first motion mechanism 1 and the second motion mechanism 2 are completely the same in structure, and are both 3-PRR type parallel motion mechanisms, and are driven by a closed stepping screw motor to realize two-dimensional motion and rotational motion in a plane.
As shown in fig. 2, the 3-PRR type parallel kinematic mechanism includes a base, a movable platform 6 on the base 5, and three transmission mechanisms 7. Each transmission mechanism comprises a closed stepping lead screw motor 8, P driving elements 9, a connecting rod 10, R frames among the driving elements and R frames between the connecting rod and the movable platform. The first clamping mechanism 3 is fixed on the movable platform, and under the drive of the closed stepping screw motor, the movable platform can perform two-dimensional motion and rotary motion in a vertical plane, so that the first clamping mechanism is driven to perform two-dimensional motion and rotary motion in the vertical plane.
Similarly, as shown in fig. 3, the movable platform in the second moving mechanism 2 can perform two-dimensional motion and rotational motion in the horizontal plane, and drives the second clamping mechanism to perform two-dimensional motion and rotational motion in the horizontal plane.
The automatic bending device can realize three-dimensional bending deformation of the section, and comprises the following steps:
(1) in the initial position, the first clamping machine and the second clamping mechanism fix different positions for clamping materials through the clamping parts, namely, the first clamping mechanism clamps the position A of the plate, and the second clamping mechanism clamps the position B of the plate;
(2) performing the following a process and B process, or a process and B process, so that the position A and the position B are relatively deformed;
a, process: under the drive of the first movement mechanism, the A position of the profile clamped by the first clamping mechanism performs translational motion and/or rotational motion on the A plane;
b, process: and under the drive of the second movement mechanism, the B position of the profile clamped by the second clamping mechanism performs translational movement and/or rotational movement on a B plane.
(3) The first clamping mechanism and the second clamping mechanism open the clamping part and return to the initial position, namely, the clamped A position and/or B position are/is changed;
(4) and (3) repeating the steps (1), (2) and (3) until the relative deformation among a plurality of positions of the section bars is matched with the three-dimensional bending deformation of the material to be realized.
Example 2:
in this embodiment, the automatic bending device for the profile is completely the same as that in embodiment 1.
The automatic deformation device is used for repairing the jaw bone of a patient, and the modification method comprises the following steps: according to the jaw three-dimensional model of the patient, the titanium alloy material is bent by the device to be matched with the jaw three-dimensional model of the patient, and the jaw three-dimensional model is fixed or spliced to be consistent with a target jaw model.
The method for bending the titanium alloy material by using the device comprises the following steps:
(1) in the initial position, the first clamping mechanism and the second clamping mechanism fix different positions of the titanium alloy plate through the clamping part, namely the first clamping mechanism clamps the position A of the titanium alloy plate, and the second clamping mechanism clamps the position B of the titanium alloy plate;
(2) performing the following a process and B process, or a process and B process, so that the position A and the position B are relatively deformed;
a, process: under the drive of the first movement mechanism, the first clamping mechanism clamps the position A of the titanium alloy plate to perform translational motion and/or rotational motion on the plane A;
b, process: and under the drive of the second movement mechanism, the second clamping mechanism clamps the position B of the titanium alloy plate to perform translational movement and/or rotational movement on a plane B.
(3) The first clamping mechanism and the second clamping mechanism open the clamping part and return to the initial position, namely, the clamped A position and/or B position are/is changed;
(4) and (3) repeating the steps (1), (2) and (3) until the relative deformation among a plurality of positions of the titanium alloy plate is fit to the three-dimensional bending deformation of the titanium alloy plate required to be realized.
By adopting the device, the automation of manual bending of the medical titanium alloy plate at present can be realized, and the fitting of the integrally required three-dimensional bending is realized through discrete relative deformation displacement among the characteristic points of the medical titanium alloy plate.
Example 3:
in this embodiment, the automatic bending device for a profile is substantially the same as that in embodiment 1, except that in this embodiment, as shown in fig. 4, the automatic bending device for a profile further includes an auxiliary feeding mechanism, which includes a base 11, a first connecting rod 12, a second connecting rod 13, and a rotary kinematic pair 14, the rotary kinematic pair 14 is connected to the base 11 through the first connecting rod 12, and the second connecting rod 13 is fixed to the rotary kinematic pair 14. In the working state, the displacement of the unclamped part of the material in the plane is adjusted through the rotary kinematic pair, so that the position of the unclamped part is kept in the direction beneficial to the feeding of the clamped part.
The embodiments described above are intended to illustrate the technical solutions of the present invention in detail, and it should be understood that the above-mentioned embodiments are only specific embodiments of the present invention, and are not intended to limit the present invention, and any modification, supplement or similar substitution made within the scope of the principles of the present invention should be included in the protection scope of the present invention.

Claims (10)

1. The utility model provides a section bar automatic bending device which characterized by: the device comprises a first movement mechanism, a first clamping mechanism fixed on the first movement mechanism, a second movement mechanism and a second clamping mechanism fixed on the second movement mechanism;
the first motion mechanism is used for driving two-dimensional translation motion and rotation motion on the A plane;
the second motion mechanism is used for driving two-dimensional translation motion and rotation motion in a B plane;
the plane A and the plane B form an included angle which is larger than 0 degree and smaller than 180 degrees.
2. The automatic bending device for the section bar as claimed in claim 1, which is characterized in that: the section bar comprises a plate-shaped material, a rod-shaped material and a strip-shaped material.
3. The automatic bending device for the section bar as claimed in claim 1, which is characterized in that: the A plane and the B plane are perpendicular to each other.
4. The automatic bending device for the section bar as claimed in claim 1, which is characterized in that: the first motion mechanism is one of a 3-PRR type parallel mechanism, a 3-RRR type parallel mechanism, a 3-PPR type parallel mechanism, a 3-PRR type parallel mechanism, a 3-PPP type parallel mechanism and a 3-RPP type parallel mechanism;
preferably, the second motion mechanism is one of a 3-PRR type parallel mechanism, a 3-RRR type parallel mechanism, a 3-PPR type parallel mechanism, a 3-PRR type parallel mechanism, a 3-PPP type parallel mechanism and a 3-RPP type parallel mechanism.
5. The automatic bending device for the section bar as claimed in claim 1, which is characterized in that: the driving element in the first motion mechanism comprises a motor and a cylinder;
preferably, the driving element in the second motion mechanism comprises a motor and a cylinder;
preferably, the motor comprises a stepping screw motor, a servo screw motor and a servo motor.
6. The automatic bending device for the section bar as claimed in claim 1, which is characterized in that: the automatic bending device for the section bar further comprises an auxiliary feeding mechanism, and the auxiliary feeding mechanism is used for enabling the unclamped part of the section bar to perform two-dimensional freedom translation on a plane.
7. The automatic bending device for the section bar as claimed in claim 6, which is characterized in that: the auxiliary feeding mechanism comprises a plane double-connecting-rod mechanism, a plane five-connecting-rod mechanism, a plane six-connecting-rod mechanism double-parallel mechanism and a quadrilateral mechanism.
8. The method for realizing the three-dimensional bending of the section by using the automatic bending device of any one of claims 1 to 7 comprises the following steps: the three-dimensional bending deformation of the sectional material is decomposed into relative deformation motion of different characteristic points, and the sectional material three-dimensional bending required to be realized is fitted through the relative deformation among a plurality of characteristic points.
9. The method of using the automated bending apparatus of claim 8: the method comprises the following steps:
(1) the first clamping mechanism and the second clamping mechanism are used for fixedly clamping different positions of the section bar, namely the first clamping mechanism clamps the position A of the plate, and the second clamping mechanism clamps the position B of the plate;
(2) carrying out the following a process and b process, or a process and b process;
a, process: under the drive of the first motion mechanism, the A position of the section bar performs translational motion and/or rotational motion on the A plane;
b, process: under the drive of the second motion mechanism, the position B of the section bar performs translational motion and/or rotational motion on a plane B;
(3) changing the a position and/or the B position;
(4) and (3) repeating the step (1) and the step (2) until the required three-dimensional bending is realized.
10. Use of an automatic bending device according to any one of claims 1 to 7 in medical bone repair.
CN201911329875.5A 2019-12-20 2019-12-20 Automatic section bending device, method for realizing three-dimensional bending by using same and application Active CN111014391B (en)

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Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20020035860A1 (en) * 2000-07-12 2002-03-28 Lam Hung Ly Method and apparatus for forming a heart valve wireform
JP2003311335A (en) * 2002-04-24 2003-11-05 Marusho Kikai Kk Wire bender
US20060130550A1 (en) * 2001-04-13 2006-06-22 Werner Butscher Robot and method for bending orthodontic archwires and other medical devices
CN204700103U (en) * 2015-06-19 2015-10-14 宁波安纳杰模塑科技有限公司 For bending the bending machine of oil pipe
CN105170739A (en) * 2015-08-10 2015-12-23 石家庄国祥运输设备有限公司 Three-dimensional space continuous pipe bending device
CN106903191A (en) * 2017-03-14 2017-06-30 南京航空航天大学 A kind of complex components three-dimensional free bend manufacturing process based on polypody parallel robot
CN207723246U (en) * 2017-11-06 2018-08-14 佛山市顺德区莱雄机械设备有限公司 It controls to shared three-dimensional numerical control pipe bender
CN108405679A (en) * 2018-02-01 2018-08-17 山东大学 3 D auto bending forming bending machine
CN108421862A (en) * 2018-02-01 2018-08-21 山东大学 3 D auto bending forming bending machine
CN108838683A (en) * 2018-07-18 2018-11-20 乐清市中雁机械制造有限公司 Full-automatic curve Bending Processing equipment

Patent Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20020035860A1 (en) * 2000-07-12 2002-03-28 Lam Hung Ly Method and apparatus for forming a heart valve wireform
US20060130550A1 (en) * 2001-04-13 2006-06-22 Werner Butscher Robot and method for bending orthodontic archwires and other medical devices
JP2003311335A (en) * 2002-04-24 2003-11-05 Marusho Kikai Kk Wire bender
CN204700103U (en) * 2015-06-19 2015-10-14 宁波安纳杰模塑科技有限公司 For bending the bending machine of oil pipe
CN105170739A (en) * 2015-08-10 2015-12-23 石家庄国祥运输设备有限公司 Three-dimensional space continuous pipe bending device
CN106903191A (en) * 2017-03-14 2017-06-30 南京航空航天大学 A kind of complex components three-dimensional free bend manufacturing process based on polypody parallel robot
CN207723246U (en) * 2017-11-06 2018-08-14 佛山市顺德区莱雄机械设备有限公司 It controls to shared three-dimensional numerical control pipe bender
CN108405679A (en) * 2018-02-01 2018-08-17 山东大学 3 D auto bending forming bending machine
CN108421862A (en) * 2018-02-01 2018-08-21 山东大学 3 D auto bending forming bending machine
CN108838683A (en) * 2018-07-18 2018-11-20 乐清市中雁机械制造有限公司 Full-automatic curve Bending Processing equipment

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